Obtaining manipulators kinematic models from its formalised description

Obtaining manipulators kinematic models from its formalised description

Bibliographic Details
Parent link:Control and Communications (SIBCON): International Siberian Conference on Russia, Omsk, May 21-23, 2015. [4 p.].— , 2015
Main Author: Yakovlev A. S. Aleksandr Sergeevich
Corporate Author: Национальный исследовательский Томский политехнический университет (ТПУ) Институт кибернетики (ИК) Кафедра интегрированных компьютерных систем управления (ИКСУ)
Other Authors: Malishenko (Malyshenko) A. M. Alexanedr Maximovich
Summary:Title screen
The article provides an original method of formalised description of manipulator kinematic chains (MKC) as the basis for combining the whole complex of information on MKC required for the derivation of kinematic equations for the manipulator being described. Mathematical models of kinematics are an indispensable tool when designing robotic manipulator (RM) and robotic systems based on them. At the same time, as a rule, it is connected with a great number of geometrical descriptions and algebraic transformations requiring a significant labor input and potentially causing errors conditioned by human factor. The article provides examples of using computer programme, developed and officially registered, which automatically derives manipulator kinematic equations for commercial industrial robot.
Режим доступа: по договору с организацией-держателем ресурса
Published: 2015
Subjects:
электронный ресурс
труды учёных ТПУ
formalised description
manipulator
joints
links
kinematic chain
Online Access:http://dx.doi.org/10.1109/SIBCON.2015.7147297
Format: Electronic Book Chapter
KOHA link:https://koha.lib.tpu.ru/cgi-bin/koha/opac-detail.pl?biblionumber=644016

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